Transcript
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GRSS Model Speciication Items
ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 42mm, Pulse Motor
RCP2
GRSS
I
Series
Type
Encoder type
20P Motor type
30
8
Deceleration Ratio
Stroke
I: Incremental 20P: Pulse motor, 30 :1/30 8: 8mm deceleration (4mm per side) * The Simple absolute 20 size ratio encoder is also considered type "I". * See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None NM: Non-motor end P: 1m FB: Flange bracket S: 3m SB: Shaft bracket M: 5m X: Custom Length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
L1
Controllers Integrated
Table/ Arm/ Flat Type
L2 * Operate with the L1 distance up to 40mm. * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
Standard
16
Gripping force (N)
14
Gripper/ Rotary Type Appendix
P.5 Linear Servo Type
SplashProof Type
8 6 4 2 0
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
12 10
0
10
20
30 40 50 Current Limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Speciications
Stroke and Max. Opening/Closing Speed Deceleration Ratio
RCP2-GRSS-I-20P-30-8- ➀ - ➁ - ➂
30
Maximum Gripping Force (N)
Stroke (mm)
14 (7 per side)
8 (4 per side)
Stroke
8 (mm)
Deceleration ratio
78 (per side)
30
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: mm/s)
Cable Length
Stroke Stroke (mm)
Standard price
8
—
Type Standard (Robot Cables) Special length
Servo Motor (24V)
Servo Motor (200V)
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Options
Actuator Specifications
Name Non-motor end specification Flange bracket Shaft bracket
Linear Servo Motor
373
70
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Lead and Payload
Model number
Pulse Motor
60
RCP2-GRSS
Option code NM FB SB
See page ➝ A-52 ➝ A-43 ➝ A-55
Standard price — — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Worm gear + helical gear + helical rack ±0.01mm 0.2mm or less per side (constantly pressed out by a spring) 0.05mm or less per side Linear guide Ma: 0.5 N·m, Mb: 0.5 N·m, Mc: 1.5 N·m 0.2kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
*The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.
Mini
Standard Controllers Integrated 2-ø3 +0.03 depth 3 0
Rod Type
17 8.5
Mini 4
17
(same for opposite side)
43
8-M3 dapth 5 (same for opposite side)
Cable joint connector*1
Standard
2-3 +0.05 depth 3 0
Controllers Integrated
24
2-ø3h7 ( - 0.010 )
71
(same for opposite side)
0
1.5
Table/ Arm/ Flat Type
9 ø3 +0.03 depth 3 0
Standard
34
35
Gripper/ Rotary Type
17 MAX 13.5 MIN 5.5
4
8.5 4
13.9
Mini
2
4.2 5
42
2-M3 depth 4
2-ø3 +0.03 depth 3 0
Secure at least 100
(same for opposite side)
0
8-M3 depth 5
47
9 - 0.05
4-M3 depth 5
(same for opposite side)
2-3
+0.05 0
Linear Servo Type
3 +0.05 depth 3 0
depth 3
(same for opposite side)
Cleanroom Type
Weight (kg)
0.2 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-20PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-20PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-20PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-20PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-20PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRSS
Pulse Motor
374
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GRLS Model Speciication Items
ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor
RCP2
GRLS
I
Series
Type
Encoder type
20P Motor type
30
180
Deceleration Ratio
Stroke
I: Incremental 20P: Pulse motor, 30: 1/30 deceleration * The Simple absolute 20 size ratio encoder is also considered type "I".
180: 180 degrees (90 degrees per side)
* See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None NM: Non-motor end P: 1m FB: Flange bracket S: 3m SB: Shaft bracket M: 5m X: Custom Length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%. * The gripping force of the graph below is measured on the top face of the lever. The actual gripping force drops in inverse proportion to the distance from the opening/closing fulcrum. Calculate the effective gripping force using the formula below. * Operate with the L distance up to 40mm. Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5)
Standard
L
Controllers Integrated
Table/ Arm/ Flat Type
Mini
* In the graph below, the gripping force value is the sum of gripping forces of both fingers. Standard
7
Gripper/ Rotary Type
Gripping force (N)
6
Appendix
P.5
5 4 3 2 1
Linear Servo Type
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
SplashProof Type
0 0
10
20
30 40 50 Current Limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at 5 degrees/s.
Actuator Speciications
Stroke and Max. Opening/Closing Speed Deceleration Ratio
RCP2-GRLS-I-20P-30-180- ➀ - ➁ - ➂
30
Maximum Gripping Force (N)
Stroke (deg)
6.4 (3.2 per side)
180 (90 per side)
Stroke
180 (deg)
Deceleration ratio
600 (per side)
30
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: degree/s)
Cable Length
Stroke Stroke (deg)
Standard price
180
—
Type Standard (Robot Cables) Special length
Servo Motor (24V)
Servo Motor (200V)
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Options
Actuator Specifications
Name Non-motor end specification Flange bracket Shaft bracket
Linear Servo Motor
375
70
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Lead and Payload
Model number
Pulse Motor
60
RCP2-GRLS
Option code NM FB SB
See page ➝ A-52 ➝ A-43 ➝ A-55
Standard price — — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Worm gear + helical gear ±0.01deg. 1 degree or less per side (constantly pressed out by a spring) 1 degree or less — — 0.2kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
*The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.
2-ø3 +0.03 depth 3 0
Mini
Standard
(same for opposite side)
17
24
Controllers Integrated
4
8-M3 depth 5 17
(same for opposite side)
Rod Type
Cable joint connector*1
2-3 +0.05 depth 3 0 45
(same for opposite side)
2-ø3 +0.03 depth 3 0 (same for opposite side)
4-M4 through
Standard
Secure at least 100
2-ø4 +0.03 depth 2.5 0
Mini
9
Controllers Integrated
ø3 +0.03 depth 3 0
35
MAX 180º MIN 0º
Mini
34
17 8.5
Standard
4
18
9
42
Table/ Arm/ Flat Type
4
9 18
15.5
4-M3 depth 5
8-M3 depth 5
2-3 +0.05 depth 3 0
36
(same for opposite side)
Gripper/ Rotary Type
3 +0.05 depth 3 0
49 (same for opposite side)
73 66.5
Linear Servo Type
55
Cleanroom Type
Weight (kg)
0.2 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-20PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-20PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-20PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-20PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-20PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRLS
Pulse Motor
376
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GRS Model Speciication Items
ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 69mm, Pulse Motor
RCP2
GRS
I
Series
Type
Encoder type
20P Motor type
1
10
Deceleration Ratio
Stroke
I: Incremental 10: 10mm 20P: Pulse motor, 1 : 1/1 deceleration (5mm per side) * The Simple absolute 20 size ratio encoder is also considered type "I". * See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None SB: Shaft bracket P: 1m FB: Flange bracket S: 3m M: 5m X: Custom Length R: Robot cable
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
L1
Controllers Integrated
Table/ Arm/ Flat Type
* Operate with the L1 distance up to 50mm. L2 * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
35
Standard
Gripper/ Rotary Type
Gripping force (N)
30
Appendix
P.5 Linear Servo Type
SplashProof Type
10 5 10
20
30 40 50 Current Limit (% ratio)
60
70
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. * Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Speciications
Stroke and Max. Opening/Closing Speed Deceleration Ratio
RCP2-GRS-I-20P-1-10- ➀ - ➁ - ➂
1
Maximum Gripping Force (N)
Stroke (mm)
21 (10.5 per side)
10 (5 per side)
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Stroke Deceleration ratio
1
10 (mm) 33.3 (per side) (Unit: mm/s)
Cable Length
Stroke Stroke (mm)
Standard price
10
—
Type Standard
Pulse Motor
Servo Motor (200V)
15
Lead and Payload
Model number
Servo Motor (24V)
20
0 0
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
25
Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard Price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Options
Actuator Specifications Name
Option code FB SB
Flange bracket Shaft bracket
Linear Servo Motor
377
RCP2-GRS
See page ➝ A-43 ➝ A-55
Standard price — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Timing belt + trapezoidal screw (1.5 lead) ±0.01mm 0.15mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 7.0 N·m 0.36kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
*The opening side of the slider is the home position. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Mini
Standard Controllers Integrated
30
29
Cable joint connector*1
Rod Type
2-ø3 +0.03 0 depth 2.5
Mini
21
MAX 11 MIN 1
Table/ Arm/ Flat Type
69
4 24
Controllers Integrated
4-M4 depth 6
ø3 +0.03 depth 2.5 0
21
4 +0.03 0
7
24 9
4-M4 depth 7 (same for opposite side)
1.5
Standard
28 3 +0.05 depth 2.5 0
24
2-M4 depth 8
36
0 10 - 0.05
Secure at least 100
(same for opposite side)
5
Mini
Standard 2-3 +0.05 depth 2.5 0
(same for opposite side)
3
Gripper/ Rotary Type
68 71
Linear Servo Type
Note: The holes in the slider shown above, other than tapped holes, are used to install the slider onto the actuator. They cannot be used as finger positioning holes. Use the key slots to position the fingers.
Cleanroom Type
Weight (kg)
0.36 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-20PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-20PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-20PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-20PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-20PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRS
Pulse Motor
378
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GRM Model Speciication Items
ROBO Cylinder, 2-Finger Gripper, Medium Slider Type, Actuator Width 74mm, Pulse Motor
RCP2
GRM
I
Series
Type
Encoder type
28P Motor type
1
14
Deceleration Ratio
Stroke
I: Incremental 14: 14mm 28P: Pulse motor, 1 : 1/1 deceleration (7mm per side) * The Simple absolute 28 size ratio encoder is also considered type "I". * See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None SB: Shaft bracket P: 1m FB: Flange bracket S: 3m M: 5m X: Custom Length R: Robot cable
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
L1
Controllers Integrated
Table/ Arm/ Flat Type
* Operate with the L1 distance up to 80mm. L2 * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
Standard
140
Gripping force (N)
120
Gripper/ Rotary Type Appendix
P.5
100 80 60 40 20
Linear Servo Type
Cleanroom Type
SplashProof Type
20
30 40 50 Current Limit (% ratio)
70
Stroke and Max. Opening/Closing Speed Deceleration Ratio 1
Maximum Gripping Force (N)
Stroke (mm)
80 (40 per side)
14 (7 per side)
Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options
Stroke Deceleration ratio
1
14 (mm) 36.7 (per side) (Unit: mm/s)
Cable Length
Stroke Stroke (mm) 14
60
* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Speciications
RCP2-GRM-I-28P-1-14- ➀ - ➁ - ➂
Type
Standard price
Standard
—
Pulse Motor
Servo Motor (200V)
10
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Lead and Payload
Model number
Servo Motor (24V)
0 0
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard Price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Options
Actuator Specifications Name
Option code FB SB
Flange bracket Shaft bracket
Linear Servo Motor
379
RCP2-GRM
See page ➝ A-43 ➝ A-55
Standard price — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Timing belt + trapezoidal screw (1.5 lead) ±0.01mm 0.15mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 8.3 N·m 0.5kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
*The opening side of the slider is the home position. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Mini
Standard
35
36
Controllers Integrated
Rod Type
Cable joint connector*1
Mini
2-ø3 +0.03 depth 2.5 0
25
4-M4 depth 8 (same for opposite side)
Controllers Integrated 24
22
4-M4 depth 6
ø3 +0.03 depth 2.5 0
24
Table/ Arm/ Flat Type
Mini
74
4
MAX 15 MIN 1
25 7 11.5
5 +0.03 0
1.5
Standard
28 3 +0.05 depth 2.5 0
2-M5 depth 8
36
0
12 - 0.05
Secure at least 100
(same for opposite side)
5
Standard
Gripper/ Rotary Type
2-3 +0.05 depth 2.5 0
(same for opposite side)
3
76 79
Linear Servo Type
Note: The holes in the slider shown above, other than tapped holes, are used to install the slider onto the actuator. They cannot be used as finger positioning holes. Use the key slots to position the fingers.
Cleanroom Type
Weight (kg)
0.5 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-28PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-28PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-28PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-28PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-28PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-28PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-28PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-28PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-28PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRM
Pulse Motor
380
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GRST Model Speciication Items
ROBO Cylinder, 2-Finger Gripper, Long Stroke Slide Type, Actuator Width 130~190mm, Pulse Motor
RCP2
GRST
I
Series
Type
Encoder type
20P Motor type
Deceleration Ratio
Stroke
I: Incremental 20P: Pulse motor, 1: 1/1 deceleration ratio * The Simple absolute 20 size High-Speed Type encoder is also 2: 1/2 deceleration considered type "I". ratio Standard Type
* See page Pre-47 for details on the model descriptions.
40 : 40mm 60 : 60mm 80 : 80mm 100 : 100mm
Applicable controller
Cable length
Options
N: None See Options below. P: 1m * Be sure to specify the S: 3m side from which you M: 5m X: Custom want the cable to exit (A0 or A1). Length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
L1
Controllers Integrated
Table/ Arm/ Flat Type
L2 * Operate with the L1 distance up to 60mm. * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
Gripper/ Rotary Type
Gripping force (N)
Standard
Appendix
P.5 Linear Servo Type
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
SplashProof Type
45 40 35 30 25 20 15 10 5 0 0
Standard High-Speed Type
10
30 40 50 60 70 80 Current Limit (% ratio) * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. * Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Speciications
Leads and Payload
Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GRST-I-20P-1- ➀ - ➁ - ➂ - ➃
1
RCP2-GRST-I-20P-2- ➀ - ➁ - ➂ - ➃
2
Maximum Gripping Force (N) 20 (10 per side) 40 (20 per side)
Stroke
Stroke (mm)
Deceleration ratio
40~100 (every 20mm )
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
20
40~100 (mm)
1
75
2
34 (Unit: mm/s)
Cable Length
Stroke (mm) 40 60 80 100
Type
Standard price
Standard (Robot Cables)
— — — —
Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Options
Actuator Specifications
Name Non-motor end specification Cable exiting from bottom Cable exiting from side
Option code NM A0 A1
See page ➝ A-52 ➝ A-41 ➝ A-41
Standard price — — —
*Be sure to specify the side from which you want the cable to exit (A0 or A1).
Linear Servo Motor
381
RCP2-GRST
Item
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Description
Timing belt + worm/rack gear ±0.01mm 0.2mm or less per side — Linear guide Ma: 2.93 N·m, Mb: 2.93 N·m, Mc: 5.0 N·m 0.51kg (40-stroke) ~ 0.66kg (100-stroke) 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
P.15
4-M3 depth 5
19
Mini
Standard Controllers Integrated
2.5 12±0.05
Rod Type
19
3
* The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.
12.5±0.05
2D CAD
Appendix
www.intelligentactuator.com
ø3 +0.03 depth 3 0
Mini L
(0.5)
M
(0.5)
N .5 C0
24
st
2−
6
.5
33
10.5
24
st
C0
2−
0 25 − 0.05
Standard
4
24.5
Controllers Integrated
4
28
25.5
Unlocking screw
12.5
21.5
28
53.5
Cable exiting from side (Model: A1
40 60
(same for opposite side)
depth 3
32
Mini
11
Standard
ø3 +0.05 depth 3 0
4-M3 depth 5
Cable exit from bottom (Model: A0)
26
4
* The current position of the slider is the home position.
M
N
Gripper/ Rotary Type
(210)
ø3
+0.03 0
Secure at least 100 ø3 +0.05 depth 3 0
ø3 +0.03 depth 3 0
(same fo opposite side)
2-M4 depth 6 (same for opposite side)
Table/ Arm/ Flat Type
Linear Servo Type
Cable joint connector*1
60
Dimensions and Weight by Stroke Stroke L M N Weight (kg)
40 130 71.5 57.5 0.51
60 80 100 150 170 190 81.5 91.5 101.5 67.5 77.5 87.5 0.56 0.61 0.66
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-20PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-20PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-20PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-20PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-20PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRST
Pulse Motor
382
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GRHM Model Speciication Items
RCP2
GRHM
I
Series
Type
Encoder type
ROBO Cylinder, 2-Finger Gripper, Medium High-force Type, Actuator Width 116mm, 24V Pulse Motor
35P Motor type
2
32
Deceleration Ratio
Stroke
Applicable controller
Cable length
P1: PCON-PL/PO/SE 32: 32mm 35P: Pulse motor, 2: Feed screw lead 2 PSEL (16mm per side) 35 size P3: PCON-CA PMEC/PSEP MSEP
I: Incremental
* See page Pre-47 for details on the model descriptions.
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom Length
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
L1
Controllers Integrated
Table/ Arm/ Flat Type
L2 * Operate with the L1 distance up to 90mm. * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
140
Standard
Gripper/ Rotary Type
Gripping Force (N)
120
Appendix
P.5
100 80 60 40 20
Linear Servo Type
Cleanroom Type
SplashProof Type
0 0
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
10
20
30 40 50 Current limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Speciications
Lead and Payload
Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GRHM-I-35P-2-32- ➀ - ➁ - ➂
2
Maximum Gripping Force (N)
Stroke (mm)
125 (62.5 per side)
32 (16 per side)
Stroke
32 (mm)
Deceleration ratio
100 (per side)
2
(Unit: mm/s)
➁Cable Length
Stroke Stroke (mm)
Standard price
32
—
Type Standard (Robot Cables)
Pulse Motor
Servo Motor (200V)
Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
➂ Options
Actuator Specifications
Name Cable exit direction (top) Cable exit direction (right) Cable exit direction (left) Cable exit direction (bottom) Flange Bracket Shaft bracket
Linear Servo Motor
383
70
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options
Servo Motor (24V)
60
RCP2-GRHM
Option code CJT CJR CJL CJB FB SB
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-43 ➝ A-55
Standard price — — — — — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment (*) Weight Ambient operating temperature, humidity (*) Based on a 5,000km service life.
Timing belt + trapezoidal screw (2 lead) ±0.01mm 0.2mm or less per side (constantly pressed out by a spring) 0.15mm or less per side Linear guide Ma: 11.7 N·m, Mb: 16.7 N·m, Mc: 46.5 N·m 1.14kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
* Connect the motor-encoder integrated cable here. (See page A-59 for details on cables.)
Mini
Standard Controllers Integrated
43
Cable Exit Direction (Optional) Table/ Arm/ Flat Type
0.5(ME)
10
5
34.5 0.5 (ME)
Controllers Integrated
depth 5 ø4 +0.012 0 Home oblong hole, depth (same on opposite side)
3
102 105 61.9
Mini
Left
43.1
56.5
27.6
Motor & Encoder Connection*
*ME: Mechanical End
102 105
Bottom
32
Standard Top
Right
14.8
16.5
32
6
4
3
+0.012 0
25
6
Home At least 100 or more
Mini
Standard
5
25
ST=16
25
50
116
10
58
28
6
40 60
ST=16
4-M5 depth 8
34
oblong hole, depth 5 4 +0.012 0
44
ø4 +0.012 depth 5 (same on opposite side) 0 2-M5 depth 10 (same on opposite side)
49.5 Home
18
34.5
36.5
30 18
34.5 0.5 (ME)
4-M4, depth 6 2-ø4 +0.012 depth 5 0
Rod Type
Gripper/ Rotary Type
At least 100 or more
Linear Servo Type
Cleanroom Type
Weight (kg)
1.14 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-35PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-35PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-35PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-35PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-35PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-35PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-35PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-35PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-35PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRHM
Pulse Motor
384
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GRHB Model Speciication Items
RCP2
GRHB
I
Series
Type
Encoder type
ROBO Cylinder, 2-Finger Gripper, Large High-force Type, Actuator Width 131mm, 24V Pulse Motor
42P Motor type
2
40
Deceleration Ratio
Stroke
Applicable controller
Cable length
P1: PCON-PL/PO/SE 40:40mm 42P: Pulse motor, 2: Feed screw lead 2 PSEL (20mm per side) 42 size P3: PCON-CA PMEC/PSEP MSEP
I: Incremental
* See page Pre-47 for details on the model descriptions.
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom Length
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
L1
Controllers Integrated
Table/ Arm/ Flat Type
* Operate with the L1 distance up to 90mm. L2 * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
250
Gripper/ Rotary Type Appendix
P.5 Linear Servo Type
200 150 100 50 0 0
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
SplashProof Type
Gripping force (N)
Standard
10
20
30 Current
40 50 60 limit (% ratio)
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. * Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Speciications
Lead and Payload
Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GRHB-I-42P-2-40- ➀ - ➁ - ➂
2
Maximum Gripping Force (N)
Stroke (mm)
200 (100 per side)
40 (20 per side)
Stroke
40 (mm)
Deceleration ratio
100 (per side)
2
Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options
Stroke (mm)
Standard price
40
—
Type Standard (Robot Cables)
Pulse Motor
Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Servo Motor (24V)
Actuator Specifications
➂ Options
Linear Servo Motor
(Unit: mm/s)
➁Cable Length
Stroke
Servo Motor (200V)
70
Name Cable exit direction top) Cable exit direction (right) Cable exit direction (left) Cable exit direction (bottom) Flange Bracket Shaft bracket
385
RCP2-GRHB
Option code CJT CJR CJL CJB FB SB
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-43 ➝ A-55
Standard price — — — — — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment (*) Weight Ambient operating temperature, humidity (*) Based on a 5,000km service life.
Timing belt + trapezoidal screw (2 lead) ±0.01mm 0.2mm or less per side (constantly pressed out by a spring) 0.15mm or less per side Linear guide Ma: 15.7 N·m, Mb: 26.4 N·m, Mc: 59.8 N·m 1.5kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
* Connect the motor-encoder integrated cable here. (See page A-59 for details on cables.)
Mini
Standard Controllers Integrated
Mini
ø5 H7 +0.012 depth 6 (same on opposite side) 0
50
5 +0.012 oblong hole, dept 6 0
25
65.5 50
Table/ Arm/ Flat Type
6
25
131
50 70
Controllers Integrated
Cable Exit Direction (Optional) ø5 H7
+0.012 0
Mini
0.5 (ME)
10
6
0.5 (ME)
40
ST=20
depth 6
Standard
63.4
oblong hole, depth 6 (same on opposite side) 5 +0.012 0
25
115 118
3
4
Home 4
At least 100 or more
4-M6 depth 10
30.5 10
0.5 (ME)
ST=20
Home
Standard
38
2-M6 depth 12 (same on opposite side)
4
Home
24
3
54.6
115 118 69.5
32
27.6
*ME: Mechanical End
Gripper/ Rotary Type
16.5
Left
Motor & Encoder Connection* Bottom
32
40
42
30 18
40
4-M4, depth 6 2-ø4 +0.012 depth 5 0
49
50
Rod Type
Right
14.8
Top
Linear Servo Type
At least 100 or more
Cleanroom Type
Weight (kg)
1.5 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-42PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-42PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-42PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-42PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-42PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-42PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-42PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-42PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRHB
Pulse Motor
386
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GR3LS RCP2 GR3LS
Model Speciication Items
Series
I
Type
ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 62mm, Pulse Motor
28P
Encoder type
Motor type
30
19
Deceleration Ratio
Stroke
I: Incremental 19: 19 degrees 28P: Pulse motor, 30 : 1/30 * The Simple absolute deceleration 28 size encoder is also ratio considered type "I". * See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None FB: Flange bracket P: 1m SB: Shaft bracket S: 3m M: 5m X: Custom length R: Robot cable
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
L
Standard
* Please note that, when gripping (pushing), the speed is fixed at 5 deg/s.
F
Controllers Integrated
* The values in the graph below are gripping forces at 10mm gripping point. The actual gripping force decreases inversely proportional to the distance from the opening/ closing point. You can calculate the actual gripping force by the following equation. Actual gripping force (GR3LS) = P × 24 / (L + 14) P = Gripping force on graph L = Distance from finger mounting surface to the gripping point. (Operate with the L1 distance under 50mm.)
Table/ Arm/ Flat Type
Mini
Standard
35
Gripper/ Rotary Type
Gripping force P (N)
30 Appendix
P.5 Linear Servo Type
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
SplashProof Type
25 20 15 10 5 0 0
10
20
30 40 50 Current Limit (% ratio)
Actuator Speciications
Lead and Payload
Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GR3LS-I-28P-30-19- ➀ - ➁ - ➂
30
Maximum Gripping Force (N)
Stroke (deg)
18 (6 per side)
19
Stroke Deceleration ratio
30
19 (deg) 200 (Unit: degrees/s)
Cable Length
Stroke Stroke (deg)
Standard price
19
—
Type Standard
Pulse Motor
Servo Motor (200V)
70
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Servo Motor (24V)
60
Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard Price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Options
Actuator Specifications Name
Option code FB SB
Flange bracket Shaft bracket
Linear Servo Motor
387
RCP2-GR3LS
See page ➝ A-43 ➝ A-55
Standard price — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Weight Ambient operating temperature, humidity
Worm gear + worm wheel gear ±0.01 degrees 1degree or less per side (constantly pressed out by a spring) 0.15 degrees or less per side 0.6kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
* When homing, the actuator swings 1 degree past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Mini
Standard Controllers Integrated
Rod Type
ø3 +0.05 0
8
10 +0.05 0
ø 57
0 - 0.05
ø 57
2-M3
Standard
Cable joint connector *1
7.5 3.5
Mini
2
8
0.5
Controllers Integrated
Details of A 84
Mounting surface
M8 (effective depth 4)
10 2-ø3 +0.03 depth 3 0
50.5
62
31.5 16
Home
4- ø 4.5 48
(same for back side)
(19) 1.5
Mounting surface
4-M5 depth 8
Secure at least 100
28
3-M4 (effective depth 6) Flange plug (set screw M4 x 5)
(same for back side)
Mini 120
24
36
6
ø 45
12
Gripper/ Rotary Type
4
0
Standard 5°
9 6
ø59 - 0.05
48
62
°
14°
°
120
ø 18
Table/ Arm/ Flat Type
Mounting surface
A
(same for opposite side)
ø7
depth 3 2-3 +0.05 0
6
(same for back side)
17.5
112
Linear Servo Type
(129.5)
Cleanroom Type
Weight (kg)
0.6 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-28PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-28PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-28PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-28PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-28PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-28PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-28PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-28PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-28PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GR3LS
Pulse Motor
388
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GR3LM RCP2 GR3LM
Model Speciication Items
Series
I
Type
ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 80mm, Pulse Motor
42P
Encoder type
Motor type
30
19
Deceleration Ratio
Stroke
I: Incremental 19: 19 degrees 42P: Pulse motor, 30 : 1/30 * The Simple absolute deceleration 42 size encoder is also ratio considered type "I". * See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None FB: Flange bracket P: 1m SB: Shaft bracket S: 3m M: 5m X: Custom length R: Robot cable
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Gripping Force Adjustment
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
* Please note that, when gripping (pushing), the speed is fixed at 5 deg/s.
L
F
Controllers Integrated
* The values in the graph below are gripping forces at 10mm gripping point. The actual gripping force decreases inversely proportional to the distance from the opening/ closing point. You can calculate the actual gripping force by the following equation. Actual gripping force (GR3LM) = P × 28.5 / (L + 18.5) P = Gripping force on graph L = Distance from finger mounting surface to the gripping point. (Operate with the L distance up to 80mm.)
Table/ Arm/ Flat Type
Mini
Standard
70
Gripper/ Rotary Type
Appendix
P.5 Linear Servo Type
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
SplashProof Type
Gripping force P (N)
60 50 40 30 20 10 0 0
30 40 50 60 70 Current Limit (% ratio) * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Actuator Speciications
Lead and Payload
10
20
Stroke and Max. Opening/Closing Speed Deceleration Ratio
Model number
RCP2-GR3LM-I-42P-30-19- ➀ - ➁ - ➂
Maximum Gripping Force (N)
Stroke (deg)
51 (17 per side)
19
30
Stroke Deceleration ratio
30
19 (deg) 200
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Cable Length
Stroke Stroke (deg)
Standard price
19
—
Type Standard
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
(Unit: degrees/s)
Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard Price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Options
Actuator Specifications Name
Flange bracket Shaft bracket
Option code FB SB
Linear Servo Motor
389
RCP2-GR3LM
See page ➝ A-43 ➝ A-55
Standard price — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Weight Ambient operating temperature, humidity
Worm gear + worm wheel gear ±0.01 degrees 1 degree or less per side (constantly pressed out by a spring) 0.15 degrees or less per side 1.1kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
* When homing, the actuator swings 1 degree past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Mini
Standard Controllers Integrated
Rod Type 10 +0.05 0
ø 75
ø 75
0
77 - 0.05
0
10 - 0.05
ø3 +0.05 0 2-M4
Mini
Standard Cable joint connector *1
9 4 10
2
0.5
Controllers Integrated
4- ø 5.5
36
M8 (effective depth 4)
78
Mounting surface
80
12
2-ø3 +0.03 depth 3 0
64 40.5 20
Home
62
(same for back side)
(23.5) 1.5
4-M6 depth 12
Mounting surface
Secure at least 100
Details of A
3-M5 (effective depth 7) Flange plug (set screw M5 x 6)
Mini
(same for back side)
34 48
Standard
5°
18
14.5
62
ø 62
9
Gripper/ Rotary Type
ø2
Mounting surface
4
80
7
7
°
120
°
120
14°
Table/ Arm/ Flat Type
(same for opposite side)
depth 3 2-3 +0.05 0
A
Linear Servo Type
8
ø9
(same for back side)
22
114 (136)
Cleanroom Type
Weight (kg)
1.1 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-42PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-42PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-42PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-42PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-42PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-42PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-42PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-42PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GR3LM
Pulse Motor
390
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GR3SS Model Speciication Items
RCP2
GR3SS
I
Series
Type
Encoder type
ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 62mm, Pulse Motor
28P Motor type
30
10
Deceleration Ratio
Stroke
Applicable controller
Cable length
I: Incremental 10: 10mm 28P: Pulse motor, 30 : 1/30 P1: PCON-PL/PO/SE * The Simple absolute deceleration (5mm per side) 28 size PSEL encoder is also ratio P3: PCON-CA considered type "I". PMEC/PSEP MSEP
* See page Pre-47 for details on the model descriptions.
Options
N: None FB: Flange bracket P: 1m SB: Shaft bracket S: 3m M: 5m X: Custom length R: Robot cable
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard Controllers Integrated
* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
L
F
Table/ Arm/ Flat Type
* Operate with the L distance up to 50mm. * The gripping force value in the graph below is when L is at 0 mm. (For gripping force reference per L distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
Standard
35
Gripper/ Rotary Type
Appendix
P.5 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G.
Linear Servo Type
Cleanroom Type
Gripping force P (N)
30 25 20 15 10 5 0 0
20
30 40 50 Current Limit (% ratio)
Lead and Payload
Deceleration Ratio
Model number
Maximum Gripping Force (N)
Stroke (mm)
22 (7.3 per side)
10
30
Stroke Deceleration ratio
10 (mm)
30
40
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: mm/s)
Cable Length
Stroke Stroke (mm)
Standard price
10
—
Type Standard
Pulse Motor
Servo Motor (200V)
70
Stroke and Max. Opening/Closing Speed
RCP2-GR3SS-I-28P-30-10- ➀ - ➁ - ➂
Servo Motor (24V)
60
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Actuator Speciications
SplashProof Type
10
Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard Price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Options
Actuator Specifications Name
Option code FB SB
Flange bracket Shaft bracket
Linear Servo Motor
391
RCP2-GR3SS
See page ➝ A-43 ➝ A-55
Standard price — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Worm gear + worm wheel gear ±0.01mm 0.3mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 3.8 N·m, Mb: 3.8 N·m, Mc: 3.0 N·m 0.6kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
* When homing, the actuator swings 0.5mm past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Mini
Standard
10 +0.05 0
ø 57
ø 57
0
6 - 0.05
Controllers Integrated
Cable joint connector *1
10
0
(same for back side)
4-M5 depth 8 (same for back side)
ø 45
0
Mini 4
ST5
ø59 - 0.05
5 15 18 3.5 1.5 4~9
48
°
Mounting surface (same for opposite side)
Controllers Integrated
Table/ Arm/ Flat Type
120
62
Mounting surface
3-M4 (effective depth 6) Flange plug (set screw M4 x 5)
°
1.5
Standard
120
2
2-ø3 +0.03 0 depth 3
24
1.5
48
45
Mounting surface
36
3- ø2.5h7 ( - 0.010 )
ø9 counterbore, depth 1.5 M8 (effective depth 6)
62 4- ø 4.5
Mini
70 Secure at least 100
40
B
0.5
Details of A
4
3-M3 depth 5
2
Rod Type
A
Standard
ø7
depth 3 2-3 +0.05 0
6
(same for back side)
104
62
Gripper/ Rotary Type
110
3-M3 depth 5 ø9 counterbore, depth 1.5 M8 (effective depth 6)
Linear Servo Type 18
Home
Cleanroom Type
ST5
4~9
5 3.5
1.5
15
1.5
48
Weight (kg)
Details of B
0.6 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-28PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-28PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-28PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-28PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-28PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-28PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-28PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-28PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-28PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GR3SS
Pulse Motor
392
Slider Type
Mini
Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-GR3SM Model Speciication Items
RCP2
GR3SM
I
Series
Type
Encoder type
* See page Pre-47 for details on the model descriptions.
ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 80mm, Pulse Motor
42P Motor type
30
14
Deceleration Ratio
Stroke
Applicable controller
Cable length
I: Incremental 14: 14mm 42P: Pulse motor, 30 : 1/30 P1: PCON-PL/PO/SE * The Simple absolute deceleration (7mm per side) 42 size PSEL encoder is also ratio P3: PCON-CA considered type "I". PMEC/PSEP MSEP
Options
N: None FB: Flange bracket P: 1m SB: Shaft bracket S: 3m M: 5m X: Custom length R: Robot cable
Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Standard
* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
F L
Controllers Integrated
Table/ Arm/ Flat Type
* Operate with the L distance up to 80mm. * The gripping force value in the graph below is when L is at 0 mm. (For gripping force reference per L distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
Standard
130
Gripper/ Rotary Type
Appendix
P.5 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G.
Linear Servo Type
Cleanroom Type
Gripping force P (N)
120 100 80 60 40 20 0 0
20
30 40 50 Current Limit (% ratio)
Lead and Payload
Deceleration Ratio
Model number
Maximum Gripping Force (N)
Stroke (mm)
102 (34 per side)
14
30
Stroke Deceleration ratio
14 (mm)
30
50
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: mm/s)
Cable Length
Stroke Stroke (mm)
Standard price
14
—
Type Standard
Pulse Motor
Servo Motor (200V)
70
Stroke and Max. Opening/Closing Speed
RCP2-GR3SM-I-42P-30-14- ➀ - ➁ - ➂
Servo Motor (24V)
60
* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.
Actuator Speciications
SplashProof Type
10
Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard Price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Options
Actuator Specifications Name
Flange bracket Shaft bracket
Option code FB SB
Linear Servo Motor
393
RCP2-GR3SM
See page ➝ A-43 ➝ A-55
Standard price — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Worm gear + worm wheel gear ±0.01mm 0.3mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 5.7 N·m 1.2kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
* When homing, the actuator swings 0.5mm past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Mini
Standard Controllers Integrated
Mini
ø 75
ø 75
0
8 - 0.05
10 +0.05 0
Rod Type
Standard 2 Cable joint connector *1
0.5
Controllers Integrated
Details of A
47
0
3- ø2.5h7 ( - 0.010 )
ø9 counterbore, depth 1.5 M8 (effective depth 6)
4- ø 5.5 80
2
(same for back side)
4-M6 depth 12
Mounting surface
3-M5 (effective depth 7) Flange plug (set screw M5 x 6)
Mini
120
120
34
48
8
Standard
ø 62
Gripper/ Rotary Type
4
0
77 - 0.05
1.5 4 ~ 11 ST7
62
80
7
Home
°
22 25
Table/ Arm/ Flat Type
(same for back side)
°
1.5
62
78 2-ø3 +0.03 depth 3 0
12 53 Mounting 1.5 surface
Secure at least 100
3-M3 depth 6
8
ø9
Mounting surface (same for opposite side)
Linear Servo Type
A
depth 3 2-3 +0.05 0 (same for back side)
118 125
Cleanroom Type
Weight (kg)
1.2 SplashProof Type
Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-42PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-42PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-42PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-42PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-42PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-42PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-42PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-42PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GR3SM
Pulse Motor
394
